diff options
Diffstat (limited to 'Runtime/Dynamics/Joint.h')
| -rw-r--r-- | Runtime/Dynamics/Joint.h | 148 |
1 files changed, 148 insertions, 0 deletions
diff --git a/Runtime/Dynamics/Joint.h b/Runtime/Dynamics/Joint.h new file mode 100644 index 0000000..e632116 --- /dev/null +++ b/Runtime/Dynamics/Joint.h @@ -0,0 +1,148 @@ +#ifndef JOINT_H +#define JOINT_H + +#include "Runtime/BaseClasses/GameObject.h" +#include "Runtime/Math/Vector3.h" +#include "RigidBody.h" +#include "JointDescriptions.h" +class Rigidbody; +class NxJointDesc; +class NxJoint; + +namespace Unity +{ + +class Joint : public Component +{ + public: + + REGISTER_DERIVED_ABSTRACT_CLASS (Joint, Component) + + Joint (MemLabelId label, ObjectCreationMode mode); + // virtual ~Joint (); declared-by-macro + + Vector3f GetAxis () const { return m_Axis; } + virtual void SetAxis (const Vector3f& axis); + + Vector3f GetAnchor () const { return m_Anchor; } + virtual void SetAnchor (const Vector3f& axis); + + Vector3f GetConnectedAnchor () const { return m_ConnectedAnchor; } + virtual void SetConnectedAnchor (const Vector3f& axis); + + bool GetAutoConfigureConnectedAnchor () const { return m_AutoConfigureConnectedAnchor; } + virtual void SetAutoConfigureConnectedAnchor (bool anchor); + + void SetBreakForce (float force); + float GetBreakForce () const; + void SetBreakTorque (float torque); + float GetBreakTorque () const; + + void SetConnectedBody (PPtr<Rigidbody> body); + PPtr<Rigidbody> GetConnectedBody () const { return m_ConnectedBody; } + + virtual void CalculateGlobalHingeSpace (Vector3f& globalAnchor, Vector3f& globalAxis, Vector3f& globalNormal) const; + Vector3f CalculateGlobalConnectedAnchor (bool autoConfigureConnectedFrame); + + virtual void AwakeFromLoad (AwakeFromLoadMode awakeMode); + + virtual void Deactivate (DeactivateOperation operation); + virtual void Reset (); + + virtual void CheckConsistency(); + + void NullJoint () { m_Joint = NULL; } + + protected: + + /// SUB CLASSES OVERRIDE THIS + virtual void Create () = 0; + virtual void ApplySetupAxesToDesc (int option) = 0; + + template<class TransferFunction> + void JointTransferPre (TransferFunction& transfer) + { + Super::Transfer (transfer); + + TRANSFER_SIMPLE (m_ConnectedBody); + TRANSFER_SIMPLE (m_Anchor); + TRANSFER_SIMPLE (m_Axis); + TRANSFER_SIMPLE (m_AutoConfigureConnectedAnchor); + transfer.Align(); + TRANSFER_SIMPLE (m_ConnectedAnchor); + + } + + template<class TransferFunction> + void JointTransferPreNoAxis (TransferFunction& transfer) + { + Super::Transfer (transfer); + + TRANSFER_SIMPLE (m_ConnectedBody); + TRANSFER_SIMPLE (m_Anchor); + TRANSFER_SIMPLE (m_AutoConfigureConnectedAnchor); + transfer.Align(); + TRANSFER_SIMPLE (m_ConnectedAnchor); + } + + template<class TransferFunction> + void JointTransferPost (TransferFunction& transfer) + { + TRANSFER (m_BreakForce); + TRANSFER (m_BreakTorque); + } + + void FinalizeCreateImpl (NxJointDesc& desc, bool swapActors = false); + + NxJoint* m_Joint; + bool m_AutoConfigureConnectedAnchor; + Vector3f m_Anchor; + Vector3f m_ConnectedAnchor; + Vector3f m_Axis; + + enum { kChangeAxis = 1 << 0, kChangeAnchor = 1 << 1 }; + void SetupAxes (NxJointDesc& desc, int options = kChangeAnchor|kChangeAxis); + + private: + + void Cleanup (); + + bool m_DidSetupAxes; + + float m_BreakForce;///< Maximum force the joint can withstand before breaking. Infinity means unbreakable. range { 0.001, infinity } + float m_BreakTorque; ///< Maximum torque the joint can withstand before breaking. Infinity means unbreakable. range { 0.001, infinity } + + protected: + PPtr<Rigidbody> m_ConnectedBody; + + friend class ::Rigidbody; +}; + +/// We need to to know the type of the desc so unfortunately this function must be inside the subclasses. +/// For reuse of code we do it with macros +#define IMPLEMENT_AXIS_ANCHOR(klass,nxdesc)\ +void klass::ApplySetupAxesToDesc (int option)\ +{\ + if (IsActive () && m_Joint)\ + {\ + nxdesc desc;\ + AssertIf (m_Joint->getState () == NX_JS_BROKEN);\ + GET_JOINT()->saveToDesc (desc);\ + SetupAxes (desc, option);\ + GET_JOINT()->loadFromDesc (desc);\ + AssertIf (m_Joint->getState () == NX_JS_BROKEN);\ + }\ +}\ + +#define FINALIZE_CREATE(desc, type)\ + FinalizeCreateImpl (desc);\ + if (GET_JOINT ())\ + GET_JOINT ()->loadFromDesc (desc);\ + else\ + m_Joint = GetDynamicsScene ().createJoint (desc);\ + AssertIf (m_Joint && m_Joint->getState () == NX_JS_BROKEN);\ + Assert (!GetGameObject().IsDestroying ()); + +} + +#endif |